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Optimum Yaw Moment Distribution with ESC and AFS Under Lateral Force Constraint on AFS

AFS 횡력 제한조건 하에서 ESC와 AFS를 이용한 최적 요 모멘트 분배

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.) ;
  • Lee, Jungjae (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.) ;
  • Cho, Sung Ik (Graduate School of Industry, Dept. of Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계.자동차공학과) ;
  • 이정재 (서울과학기술대학교 기계.자동차공학과) ;
  • 조성익 (서울과학기술대학교 산업대학원 자동차공학과)
  • Received : 2014.10.23
  • Accepted : 2015.03.31
  • Published : 2015.05.01

Abstract

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

Keywords

Optimum Yaw Moment Distribution;Electronic Stability Control;Active Front Steering;Lateral Force Saturation;Weighted Pseudoinverse based Control Allocation

Acknowledgement

Supported by : 서울과학기술대학교

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